ROBOT CONTROL APPARATUS FOR FORCE CONTROL
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United States of America Patent
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app pub date -
Jun 27, 2011
filing date -
Dec 7, 2006
priority date (Note) -
Abandoned
status (Latency Note)
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Abstract
A robot control apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value.
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